#!/usr/bin/env python
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import os, sys, getopt
import roslib; roslib.load_manifest('nxt_controllers')  
import rospy
import math
import thread
from sensor_msgs.msg import JointState
from std_msgs.msg import Float64
from nxt_msgs.msg import Range, JointCommand

class BaseController:
    def __init__(self):
        self.initialized = False
        self.angle_desi = 0

        self.ns =rospy.get_namespace() + 'base_parameters/'
        # get joint name
        self.joint = rospy.get_param(self.ns +'central_joint')

        # joint interaction
        self.pub = rospy.Publisher('joint_command', JointCommand)
        rospy.Subscriber('joint_states', JointState, self.jnt_state_cb)

        # base commands
        rospy.Subscriber('angle', Float64, self.angle_cb)
        
    def angle_cb(self, msg):
        self.angle_desi = msg.data/18

    def jnt_state_cb(self, msg):
        angles = {}
        for name, angle in zip(msg.name, msg.position):
            angles[name] = angle
        
        # wheel commands --> non mi pare, mi sembra head commands!
        # start EDITED: Renzo Bardelle
        cmd = JointCommand()
        cmd.name = self.joint
        cmd.effort = 0.0
        if abs(self.angle_desi - angles[self.joint]) > 2.2:
            if self.angle_desi - angles[self.joint] > 2.2:
                cmd.effort = 0.7
            elif self.angle_desi - angles[self.joint] < -2.2:
                cmd.effort = -0.7
        else:
            if self.angle_desi - angles[self.joint] > 0.35: # mi accontento di arrivare sotto gli 0.4 di vicinanza all'angolo cercato
                cmd.effort = max(0.57, 0.57 + (self.angle_desi - angles[self.joint]) / 32.0)
            elif self.angle_desi - angles[self.joint] < -0.35:
                cmd.effort = min(-0.57, -0.57 + (self.angle_desi - angles[self.joint]) / 32.0)
        print cmd.effort
        self.pub.publish(cmd)
        # end EDITED: Renzo Bardelle

def main():
    rospy.init_node('nxt_central_controller')
    base_controller = BaseController()
    rospy.spin()

if __name__ == '__main__':
    main()
